gnss-js 1.46.0 → 1.48.0

package/dist/{chunk-VNDMPBKK.js → chunk-KRXX4UGR.js}

@@ -1150,31 +1150,50 @@ function postProcessRtk(base, rover, ephemerides, baseEcef, opts = {}) {
       unmatched++;
       continue;
     }
-    const sol = engine.process(
-      toRtkEpoch(rEp.meas),
-      toRtkEpoch(bEp.meas),
-      rEp.timeMs
-    );
-    if (!sol) continue;
+    let point;
+    if (opts.codeOnly) {
+      const dg = solveDgnss(
+        toRtkEpoch(rEp.meas),
+        toRtkEpoch(bEp.meas),
+        baseEcef,
+        ephemerides,
+        rEp.timeMs,
+        {
+          elevationMaskDeg: opts.elevationMaskDeg,
+          troposphere: opts.troposphere,
+          codeSigmaM: opts.codeSigmaM
+        }
+      );
+      point = dg ? {
+        timeMs: rEp.timeMs,
+        position: dg.position,
+        status: "dgnss",
+        nSats: dg.nSats
+      } : null;
+    } else {
+      const sol = engine.process(
+        toRtkEpoch(rEp.meas),
+        toRtkEpoch(bEp.meas),
+        rEp.timeMs
+      );
+      point = sol ? {
+        timeMs: rEp.timeMs,
+        position: sol.position,
+        status: sol.status,
+        ratio: sol.ratio,
+        nSats: sol.nSats,
+        nFixed: sol.nFixed
+      } : null;
+    }
+    if (!point) continue;
     solved++;
-    if (sol.status === "fixed") fixed++;
+    if (point.status === "fixed") fixed++;
     const [lat, lon, height] = ecefToGeodetic(
-      sol.position[0],
-      sol.position[1],
-      sol.position[2]
+      point.position[0],
+      point.position[1],
+      point.position[2]
     );
-    track.push({
-      timeMs: rEp.timeMs,
-      position: sol.position,
-      lat,
-      lon,
-      height,
-      enu: enuOf(sol.position),
-      status: sol.status,
-      ratio: sol.ratio,
-      nSats: sol.nSats,
-      nFixed: sol.nFixed
-    });
+    track.push({ ...point, lat, lon, height, enu: enuOf(point.position) });
   }
   return { track, solved, unmatched, fixRate: solved ? fixed / solved : 0 };
 }
@@ -1703,11 +1722,13 @@ var IDX_Z = 2;
 var IDX_ZWD = 3;
 var NBASE = 4;
 var CLK_VAR = 1e10;
+var POS_VAR = 60 * 60;
 function solvePpp(epochs, sp3, opts) {
   const elevMask = (opts.elevationMaskDeg ?? 10) * Math.PI / 180;
   const codeSigma = opts.codeSigma ?? 3;
   const phaseSigma = opts.phaseSigma ?? 0.01;
   const ztdQ = opts.ztdProcessNoise ?? 1e-8;
+  const kinematic = opts.mode === "kinematic";
   const corrections = opts.corrections;
   const x = [
     opts.aprioriPos[0],
@@ -1803,6 +1824,15 @@ function solvePpp(epochs, sp3, opts) {
   let convergedStreak = 0;
   for (let ei = 0; ei < epochs.length; ei++) {
     const epoch = epochs[ei];
+    if (kinematic && ei > 0) {
+      for (const p of [IDX_X, IDX_Y, IDX_Z]) {
+        for (let j = 0; j < x.length; j++) {
+          P[p][j] = 0;
+          P[j][p] = 0;
+        }
+        P[p][p] = POS_VAR;
+      }
+    }
     for (const ci of clkIdx.values()) P[ci][ci] = CLK_VAR;
     P[IDX_ZWD][IDX_ZWD] += ztdQ * (ei > 0 ? 1 : 0);
     const rcv = [x[IDX_X], x[IDX_Y], x[IDX_Z]];

package/dist/index.cjs

@@ -13083,31 +13083,50 @@ function postProcessRtk(base, rover, ephemerides, baseEcef, opts = {}) {
       unmatched++;
       continue;
     }
-    const sol = engine.process(
-      toRtkEpoch(rEp.meas),
-      toRtkEpoch(bEp.meas),
-      rEp.timeMs
-    );
-    if (!sol) continue;
+    let point;
+    if (opts.codeOnly) {
+      const dg = solveDgnss(
+        toRtkEpoch(rEp.meas),
+        toRtkEpoch(bEp.meas),
+        baseEcef,
+        ephemerides,
+        rEp.timeMs,
+        {
+          elevationMaskDeg: opts.elevationMaskDeg,
+          troposphere: opts.troposphere,
+          codeSigmaM: opts.codeSigmaM
+        }
+      );
+      point = dg ? {
+        timeMs: rEp.timeMs,
+        position: dg.position,
+        status: "dgnss",
+        nSats: dg.nSats
+      } : null;
+    } else {
+      const sol = engine.process(
+        toRtkEpoch(rEp.meas),
+        toRtkEpoch(bEp.meas),
+        rEp.timeMs
+      );
+      point = sol ? {
+        timeMs: rEp.timeMs,
+        position: sol.position,
+        status: sol.status,
+        ratio: sol.ratio,
+        nSats: sol.nSats,
+        nFixed: sol.nFixed
+      } : null;
+    }
+    if (!point) continue;
     solved++;
-    if (sol.status === "fixed") fixed++;
+    if (point.status === "fixed") fixed++;
     const [lat, lon, height] = ecefToGeodetic(
-      sol.position[0],
-      sol.position[1],
-      sol.position[2]
+      point.position[0],
+      point.position[1],
+      point.position[2]
     );
-    track.push({
-      timeMs: rEp.timeMs,
-      position: sol.position,
-      lat,
-      lon,
-      height,
-      enu: enuOf(sol.position),
-      status: sol.status,
-      ratio: sol.ratio,
-      nSats: sol.nSats,
-      nFixed: sol.nFixed
-    });
+    track.push({ ...point, lat, lon, height, enu: enuOf(point.position) });
   }
   return { track, solved, unmatched, fixRate: solved ? fixed / solved : 0 };
 }
@@ -13636,11 +13655,13 @@ var IDX_Z = 2;
 var IDX_ZWD = 3;
 var NBASE = 4;
 var CLK_VAR = 1e10;
+var POS_VAR = 60 * 60;
 function solvePpp(epochs, sp3, opts) {
   const elevMask = (opts.elevationMaskDeg ?? 10) * Math.PI / 180;
   const codeSigma = opts.codeSigma ?? 3;
   const phaseSigma = opts.phaseSigma ?? 0.01;
   const ztdQ = opts.ztdProcessNoise ?? 1e-8;
+  const kinematic = opts.mode === "kinematic";
   const corrections = opts.corrections;
   const x = [
     opts.aprioriPos[0],
@@ -13736,6 +13757,15 @@ function solvePpp(epochs, sp3, opts) {
   let convergedStreak = 0;
   for (let ei = 0; ei < epochs.length; ei++) {
     const epoch = epochs[ei];
+    if (kinematic && ei > 0) {
+      for (const p of [IDX_X, IDX_Y, IDX_Z]) {
+        for (let j = 0; j < x.length; j++) {
+          P[p][j] = 0;
+          P[j][p] = 0;
+        }
+        P[p][p] = POS_VAR;
+      }
+    }
     for (const ci of clkIdx.values()) P[ci][ci] = CLK_VAR;
     P[IDX_ZWD][IDX_ZWD] += ztdQ * (ei > 0 ? 1 : 0);
     const rcv = [x[IDX_X], x[IDX_Y], x[IDX_Z]];

package/dist/index.js

@@ -164,7 +164,7 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-VNDMPBKK.js";
+} from "./chunk-KRXX4UGR.js";
 import {
   almanacEpochMs,
   almanacSatPosition,

package/dist/positioning.cjs

@@ -1606,31 +1606,50 @@ function postProcessRtk(base, rover, ephemerides, baseEcef, opts = {}) {
       unmatched++;
       continue;
     }
-    const sol = engine.process(
-      toRtkEpoch(rEp.meas),
-      toRtkEpoch(bEp.meas),
-      rEp.timeMs
-    );
-    if (!sol) continue;
+    let point;
+    if (opts.codeOnly) {
+      const dg = solveDgnss(
+        toRtkEpoch(rEp.meas),
+        toRtkEpoch(bEp.meas),
+        baseEcef,
+        ephemerides,
+        rEp.timeMs,
+        {
+          elevationMaskDeg: opts.elevationMaskDeg,
+          troposphere: opts.troposphere,
+          codeSigmaM: opts.codeSigmaM
+        }
+      );
+      point = dg ? {
+        timeMs: rEp.timeMs,
+        position: dg.position,
+        status: "dgnss",
+        nSats: dg.nSats
+      } : null;
+    } else {
+      const sol = engine.process(
+        toRtkEpoch(rEp.meas),
+        toRtkEpoch(bEp.meas),
+        rEp.timeMs
+      );
+      point = sol ? {
+        timeMs: rEp.timeMs,
+        position: sol.position,
+        status: sol.status,
+        ratio: sol.ratio,
+        nSats: sol.nSats,
+        nFixed: sol.nFixed
+      } : null;
+    }
+    if (!point) continue;
     solved++;
-    if (sol.status === "fixed") fixed++;
+    if (point.status === "fixed") fixed++;
     const [lat, lon, height] = ecefToGeodetic(
-      sol.position[0],
-      sol.position[1],
-      sol.position[2]
+      point.position[0],
+      point.position[1],
+      point.position[2]
     );
-    track.push({
-      timeMs: rEp.timeMs,
-      position: sol.position,
-      lat,
-      lon,
-      height,
-      enu: enuOf(sol.position),
-      status: sol.status,
-      ratio: sol.ratio,
-      nSats: sol.nSats,
-      nFixed: sol.nFixed
-    });
+    track.push({ ...point, lat, lon, height, enu: enuOf(point.position) });
   }
   return { track, solved, unmatched, fixRate: solved ? fixed / solved : 0 };
 }
@@ -2231,11 +2250,13 @@ var IDX_Z = 2;
 var IDX_ZWD = 3;
 var NBASE = 4;
 var CLK_VAR = 1e10;
+var POS_VAR = 60 * 60;
 function solvePpp(epochs, sp3, opts) {
   const elevMask = (opts.elevationMaskDeg ?? 10) * Math.PI / 180;
   const codeSigma = opts.codeSigma ?? 3;
   const phaseSigma = opts.phaseSigma ?? 0.01;
   const ztdQ = opts.ztdProcessNoise ?? 1e-8;
+  const kinematic = opts.mode === "kinematic";
   const corrections = opts.corrections;
   const x = [
     opts.aprioriPos[0],
@@ -2331,6 +2352,15 @@ function solvePpp(epochs, sp3, opts) {
   let convergedStreak = 0;
   for (let ei = 0; ei < epochs.length; ei++) {
     const epoch = epochs[ei];
+    if (kinematic && ei > 0) {
+      for (const p of [IDX_X, IDX_Y, IDX_Z]) {
+        for (let j = 0; j < x.length; j++) {
+          P[p][j] = 0;
+          P[j][p] = 0;
+        }
+        P[p][p] = POS_VAR;
+      }
+    }
     for (const ci of clkIdx.values()) P[ci][ci] = CLK_VAR;
     P[IDX_ZWD][IDX_ZWD] += ztdQ * (ei > 0 ? 1 : 0);
     const rcv = [x[IDX_X], x[IDX_Y], x[IDX_Z]];

package/dist/positioning.d.cts

@@ -437,6 +437,14 @@ interface RtkPostProcessOptions extends RtkFloatOptions {
      * mainly rejects a base gap rather than sub-second offsets.
      */
     pairToleranceMs?: number;
+    /**
+     * Code-only differential (DGNSS): solve each epoch from double-differenced
+     * pseudoranges via {@link solveDgnss} instead of the carrier-phase float
+     * engine. Every epoch is independent (no filter), so there is no ambiguity
+     * fixing — a robust metre→sub-metre fallback that needs no carrier phase.
+     * Track points come back with `status: 'dgnss'`. Default false.
+     */
+    codeOnly?: boolean;
 }
 interface RtkPostProcessResult {
     /** Solved rover epochs in time order. */
@@ -678,6 +686,14 @@ interface PppOptions {
     /** A priori receiver ECEF position (m). Required — from the RINEX header
      * approx position or an SPP solution. */
     aprioriPos: [number, number, number];
+    /**
+     * Rover dynamics. 'static' (default): the position is a single constant
+     * state, so all epochs average into one converged coordinate. 'kinematic':
+     * the position is white noise (RTKLIB `PMODE_PPP_KINEMA`) — re-estimated
+     * each epoch from that epoch's measurements while the carrier ambiguities
+     * (and troposphere) persist, so a moving receiver is tracked epoch by epoch.
+     */
+    mode?: 'static' | 'kinematic';
     /** Ground-truth ECEF (m) for reporting ENU error in the series. */
     groundTruth?: [number, number, number];
     /** Elevation cutoff (deg). Default 10. */

package/dist/positioning.d.ts

@@ -437,6 +437,14 @@ interface RtkPostProcessOptions extends RtkFloatOptions {
      * mainly rejects a base gap rather than sub-second offsets.
      */
     pairToleranceMs?: number;
+    /**
+     * Code-only differential (DGNSS): solve each epoch from double-differenced
+     * pseudoranges via {@link solveDgnss} instead of the carrier-phase float
+     * engine. Every epoch is independent (no filter), so there is no ambiguity
+     * fixing — a robust metre→sub-metre fallback that needs no carrier phase.
+     * Track points come back with `status: 'dgnss'`. Default false.
+     */
+    codeOnly?: boolean;
 }
 interface RtkPostProcessResult {
     /** Solved rover epochs in time order. */
@@ -678,6 +686,14 @@ interface PppOptions {
     /** A priori receiver ECEF position (m). Required — from the RINEX header
      * approx position or an SPP solution. */
     aprioriPos: [number, number, number];
+    /**
+     * Rover dynamics. 'static' (default): the position is a single constant
+     * state, so all epochs average into one converged coordinate. 'kinematic':
+     * the position is white noise (RTKLIB `PMODE_PPP_KINEMA`) — re-estimated
+     * each epoch from that epoch's measurements while the carrier ambiguities
+     * (and troposphere) persist, so a moving receiver is tracked epoch by epoch.
+     */
+    mode?: 'static' | 'kinematic';
     /** Ground-truth ECEF (m) for reporting ENU error in the series. */
     groundTruth?: [number, number, number];
     /** Elevation cutoff (deg). Default 10. */

package/dist/positioning.js

@@ -28,7 +28,7 @@ import {
   sunEcef,
   toRtkEpoch,
   wlWavelength
-} from "./chunk-VNDMPBKK.js";
+} from "./chunk-KRXX4UGR.js";
 import "./chunk-MHGNKSSH.js";
 import "./chunk-MIIM4LDY.js";
 import "./chunk-37QNKGTC.js";

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gnss-js",
-  "version": "1.46.0",
+  "version": "1.48.0",
   "description": "Comprehensive GNSS library for JavaScript — time scales, coordinates, RINEX parsing, RTCM3 decoding, orbit computation, and signal analysis",
   "type": "module",
   "sideEffects": false,